Relevant approaches explicitly consider the value of parametric information-awareness in the motion planning. They include a POMDP formulation with covariance minimization in the cost function [1]}, which was only demonstrated for an unconstrained double integrator system with uncertain mass, and recent work on covariance steering [2]} [3]}, which attempts to answer exactly when system excitation is most useful for model uncertainty resolution. However, these approaches have not yet been implemented on hardware, their scalability has not yet been demonstrated, and they do not address some of the practicalities of motion planning such as dealing with global long-horizon planning.
